Automatic pool cleaning device, automatic pool cleaning method and computer storage medium

Abstract

The invention relates to the technical field of automatic pool cleaning devices, and provides an automatic pool cleaning device, an automatic pool cleaning method and a computer storage medium. The automatic pool cleaning device comprises a first laser radar, a second laser radar and a control module, and the control module can control the automatic pool cleaning device to conduct movable cleaning at the bottom of a pool. Wherein the first laser radar is used for acquiring point cloud data of a first area in front of the automatic pool cleaning device, the second laser radar is used for acquiring point cloud data of a second area in front of the automatic pool cleaning device, and at least one part of the second area is higher than the first area; and the control module can generate a moving path of the automatic pool cleaning device according to the point cloud data of the first area and / or the point cloud data of the second area.

Description

Technical Field

[0001] The present application relates to the technical field of automatic pool cleaning devices, and in particular to an automatic pool cleaning device, an automatic pool cleaning method, and a computer storage medium. Background Art

[0002] With the increasing demand for swimming pool cleaning and maintenance, a variety of pool cleaning equipment has emerged on the market. These pool cleaning machines typically utilize a fixed cleaning path to clean both the pool bottom and walls. However, most pool cleaning equipment features only a single cleaning path, which limits their applicability to pools of varying shapes and structures.

[0003] For example, one type of pool cleaning equipment on the market uses a random path for mobile cleaning, while another type of pool cleaning equipment uses a bow-shaped path for mobile cleaning. However, while the random path cleaning method has strong adaptability and can clean pools of various shapes, its coverage and cleaning efficiency are relatively low. The other bow-shaped path performs better in terms of cleaning efficiency and coverage, but it is not adaptable enough for certain pools of special shapes (such as bowl-bottom pools), and is prone to cleaning blind spots. In addition, pool cleaning equipment generally lacks terrain detection capabilities and cannot switch cleaning modes according to the specific shape and structure of the pool, resulting in low cleaning efficiency.

[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of this application and does not constitute a description of the information of the prior art known to ordinary technicians in this field. Summary of the Invention

[0005] In response to the above-mentioned deficiencies in the prior art, the present application provides an automatic pool cleaning device, comprising a first laser radar, a second laser radar, and a control module, wherein the control module is capable of controlling the automatic pool cleaning device to move and clean the bottom of the pool; wherein the first laser radar is used to obtain point cloud data of a first area in front of the automatic pool cleaning device, and the second laser radar is used to obtain point cloud data of a second area in front of the automatic cleaning device, wherein at least a portion of the second area is higher than the first area; and the control module is capable of generating a moving path of the automatic pool cleaning device based on the point cloud data of the first area and / or the point cloud data of the second area.

[0006] Furthermore, the moving path of the automatic pool cleaning device includes one or more of turning, retreating, circumventing obstacles, turning around and overcoming obstacles.

[0007] Furthermore, the control module generates a moving path of the automatic pool cleaning device based on the point cloud data of the first area and / or the point cloud data of the second area, including: the control module determines whether there is an obstacle in the first area based on the point cloud data of the first area, and determines whether there is an obstacle in the second area based on the point cloud data of the second area. If there are obstacles in both the first area and the second area, and it is confirmed based on the point cloud data of the first area and the second area that a bowl-shaped pool bottom appears in front of the cleaning device, a moving path of turning and then going straight is generated to avoid the bowl-shaped pool bottom.

[0008] Furthermore, the control module generates a moving path of the automatic pool cleaning device based on the point cloud data of the first area and / or the point cloud data of the second area, including: the control module determines whether there is an obstacle in the first area based on the point cloud data of the first area, and determines whether there is an obstacle in the second area based on the point cloud data of the second area; if there is no obstacle in the first area but there is an obstacle in the second area, the type of obstacle blocking the progress of the cleaning device is confirmed in front of the cleaning device based on the point cloud data of the second area, and the moving path that moves along the historical moving direction after executing the generated obstacle-avoiding path.

[0009] Furthermore, both of the laser radars are single-line or multi-line laser radars.

[0010] Furthermore, the first laser radar scans the pool bottom, and the scanning direction of the second laser radar is vertical.

[0011] Furthermore, the first laser radar or the second laser radar can also scan the area located on the side of the cleaning device.

[0012] Furthermore, the control module can also generate a movement path along the wall of the pool based on the point cloud data of the side area scanned by the first lidar or the second lidar.

[0013] The present application also provides an automatic pool cleaning method, which is performed based on any of the cleaning devices described above.

[0014] The present application also provides a computer storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the aforementioned control method is implemented.

[0015] The embodiments described in this application have the following beneficial effects:

[0016] In this embodiment, the first laser radar and the second laser radar can respectively obtain point cloud data of the first area and the second area in front of the automatic pool cleaning device. The control module can obtain the terrain contours of the first area and the second area based on the point cloud data of the two areas, thereby improving the terrain detection capability of the automatic pool cleaning device. The control module can also generate a moving path of the automatic pool cleaning device based on the point cloud data of the first area and the point cloud data of the second area, so that the moving path of the automatic pool cleaning device can be adapted to the terrain contours of the first area and the second area. The automatic pool cleaning device can flexibly adapt to pools of different shapes and structures, thereby improving the cleaning efficiency of the automatic pool cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. The drawings described below are only exemplary embodiments of the present application.

[0018] Figure 1 1 is a schematic structural diagram illustrating an automatic pool cleaning device according to an embodiment of the present application;

[0019] Figure 2 is a schematic structural diagram illustrating an automatic pool cleaning device according to another embodiment of the present application;

[0020] Figure 3 1 is a schematic structural diagram illustrating an automatic pool cleaning device according to another embodiment of the present application;

[0021] Figure 4 1 is a flow chart illustrating a method for controlling an automatic pool cleaning device according to an embodiment of the present application.

[0022] 10. Main body; 20. First laser radar; 30. Second laser radar. DETAILED DESCRIPTION

[0023] The technical solutions in this application will be described clearly and completely below. Obviously, the embodiments described are only some of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other unless there is a conflict.

[0024] This application provides an automatic pool cleaning device. It is understood that the automatic pool cleaning device is capable of cleaning a pool. The pool, for example, is a pool-shaped structure. The pool-shaped structure may be a swimming pool, a reservoir, a spa pool, a water tank, a water storage tank, or the like. The automatic pool cleaning device may be a device such as an automatic cleaning device or a pool cleaning robot, capable of cleaning the pool-shaped structure. This application does not limit the specific embodiment of the automatic pool cleaning device or the pool-shaped structure, as long as the principles of this application can be implemented.

[0025] Unless otherwise specified, the following description uses a pool as an example of a pool-shaped structure. Unless otherwise specified, the terms "pool bottom," "pool bottom surface," and "pool bottom" all refer to the bottom surface of the pool, and the term "pool wall" refers to the wall surface of the pool.

[0026] For example, Figures 1 to 3 As shown, the automatic pool cleaning device includes a first laser radar 20, a second laser radar 30, and a control module. The control module is capable of controlling the automatic pool cleaning device to move and clean the pool bottom. The first laser radar 20 is used to acquire point cloud data of a first area in front of the automatic pool cleaning device, and the second laser radar 30 is used to acquire point cloud data of a second area in front of the automatic pool cleaning device. At least a portion of the second area is higher than the first area. The control module is capable of generating a movement path for the automatic pool cleaning device based on the point cloud data of the first area and / or the point cloud data of the second area.

[0027] LiDAR is a laser-based environmental perception sensor used to detect objects and environmental information around an automatic pool cleaning device. A first LiDAR and a second LiDAR can be mounted on the main body 10 of the automatic pool cleaning device, respectively, to sense a first area and a second area in front of the device. The two LiDARs can each emit a laser beam and receive reflected signals, acquiring real-time point cloud data for the first and second areas in front of the device.

[0028] The first laser radar 20 and the second laser radar 30 can be electrically connected to a control module, respectively. The control module can obtain point cloud data of the first area and the point cloud data of the second area, and determine the terrain contours of the first and second areas based on the point cloud data of the two areas, thereby improving the terrain detection capability of the automatic pool cleaning device. The control module can also generate a movement path of the automatic pool cleaning device based on the point cloud data of the first and second areas, so that the movement path of the automatic pool cleaning device can adapt to the terrain contours of the first and second areas. The automatic pool cleaning device can flexibly adapt to pools of different shapes and structures, thereby improving the cleaning efficiency of the automatic pool cleaning device.

[0029] At least a part of the second area is higher than the first area, that is, when scanning the pool bottom area, the second laser radar has a longer perception distance than the first laser radar. When at least a part of the second area is the pool wall area, at least a part of the second area is higher than the first area. The second laser radar 30 has a different sensing area from the first laser radar in the process of detecting the pool terrain, so as to improve the comprehensiveness of the pool terrain detection. When at least a part of the point cloud data of the second area includes pool wall information, at least a part of the second area is the pool wall area. At this time, the first area can be the pool bottom area and\or the pool wall area. Specifically, for example, the first area is the pool bottom area in front of the automatic pool cleaning device, and the second area is the pool bottom and pool wall area in front of the automatic pool cleaning device; or, the first area is the pool bottom area in front of the automatic pool cleaning device, and the second area is the pool wall area in front of the automatic pool cleaning device; or, Figure 3 As shown, the first area is the pool bottom and pool wall area in front of the automatic pool cleaning device, the second area is the pool bottom and / or pool wall area in front of the automatic pool cleaning device, and the upper end of the second area is higher than the upper end of the first area.

[0030] It should be noted that in this embodiment, whether the first laser radar 20 and the second laser radar 30 detect the pool bottom area or the pool wall area is not fixed. For example, when the relative distance between the automatic pool cleaning device and the pool wall is close, the laser beam of the first laser radar 20 that scans the pool bottom area can also be projected onto the pool wall. At this time, the first area is the pool bottom and pool wall area. When the relative distance between the automatic pool cleaning device and the pool wall is far, the laser beam of the second laser radar 30 that scans the pool wall area can also be projected onto the pool bottom. At this time, the second area is the pool bottom and pool wall area. In this application, as long as the detection range of the first laser radar 20 and the detection range of the second laser radar 30 can be extended in different directions, the specific detection ranges of the first laser radar 20 and the second laser radar 30 are not specifically limited here.

[0031] For example, the control module may include a control chip and related circuits. The control module is responsible for receiving data from sensors such as lidar, processing signals, and generating corresponding control instructions based on a preset control strategy.

[0032] The automatic pool cleaning device also includes a drive assembly for providing driving force to the automatic pool cleaning device body 10 to drive the automatic pool cleaning device to move and adjust the movement speed and direction of the automatic pool cleaning device. For example, the drive assembly includes a drive motor or a drive water pump.

[0033] For example, the first laser radar 20 can scan the bottom of the pool, and the scanning direction of the second laser radar 30 is vertical.

[0034] The second laser radar 30 can detect the topography of the pool in a vertical direction (for example, in the same direction as the forward direction of the automatic pool cleaning device) to improve the comprehensiveness of the detection of the topography of the pool.

[0035] It should be noted that, in this application, if there is no other explanation, the term "vertical direction" means substantially parallel to the forward direction of the automatic pool cleaning device.

[0036] The first laser radar 20 can tilt downward to emit a laser beam at a set angle, and the laser beam can form a laser line beam on the bottom surface of the pool. The extension direction of the laser line beam intersects with the forward direction of the automatic pool cleaning device. For example, the minimum angle between the extension direction of the laser line beam and the forward direction of the automatic pool cleaning device is in the range of 30 degrees to 90 degrees.

[0037] The scanning direction of the second laser radar 30 is the vertical direction, that is, the second laser radar 30 emits a laser beam toward the front of the automatic pool cleaning device, and the laser beam forms a laser line beam on the pool bottom and / or pool wall surface in front of the automatic pool cleaning device. The part of the laser beam located on the pool wall extends in the vertical direction, and the extension direction of the part of the laser beam located on the pool bottom is the same as the forward direction of the automatic pool cleaning device.

[0038] It is understood that the direction in which the laser beam formed by the second laser radar 30 extends at the bottom of the pool can also be in the same direction as or at a certain angle to the forward direction of the automatic pool cleaning device. In this case, the direction in which the laser beam extends at the pool wall can be perpendicular to the bottom of the pool or at a certain angle to the bottom of the pool. In this application, as long as the laser beam formed by the first laser radar 20 and the laser beam formed by the second laser radar 30 can extend in different directions, their specific directions are not limited.

[0039] The first laser radar 20 and the second laser radar 30 may both be single-line laser radars.

[0040] A single-line lidar system consists of a single laser transmitter and receiver. A single laser transmitter can emit dozens to hundreds of points, which form a line. Therefore, the laser beam emitted by a single laser transmitter is a single line. The distance information from each point emitted by the lidar can be used to obtain the two-dimensional contours of the pool bottom and walls in front of the automatic pool cleaning device.

[0041] Alternatively, the first laser radar 20 and the second laser radar 30 may both be multi-line laser radars.

[0042] A multi-line lidar sensor incorporates multiple laser transmitters and receivers, each capable of independent operation. Commonly available multi-line lidars include 4-, 8-, 16-, 32-, 64-, and 128-line models. Each transmitter-receiver unit independently emits laser pulses and receives their return signals. Because it can perform multiple simultaneous scans, it can capture the three-dimensional contours of the pool floor and walls in front of the automated pool cleaning device.

[0043] Alternatively, the first laser radar 20 is a single-line laser radar, and the second laser radar 30 is a multi-line laser radar.

[0044] Alternatively, the first laser radar 20 is a multi-line laser radar, and the second laser radar 30 is a single-line laser radar.

[0045] For example, the first laser radar 20 or the second laser radar 30 can not only scan the area directly in front of the automatic pool cleaning device, but also scan the area to the side of the automatic pool cleaning device.

[0046] It should be noted that in this application, unless otherwise specified, the terms "side" and "side area" refer to the areas on both sides of the automatic pool cleaning device, away from the main body 10 of the automatic pool cleaning device. In the side areas, there may be pool walls, obstacles, etc.; the terms "front" and "front area" refer to the areas in the forward direction of the automatic pool cleaning device, away from the main body 10 of the automatic pool cleaning device. In the front area, there may be pool walls, obstacles, etc.

[0047] The following description will be made by taking the first laser radar 20 as an example. The first laser radar 20 can be installed in the front or side of the automatic pool cleaning device. Figure 2 The first laser radar 20 shown can be installed at a position near the front of the side of the automatic pool cleaning device body 10. The first laser radar 20 can emit a laser beam obliquely downward toward the side and front of the automatic pool cleaning device, or obliquely emit a laser beam forward and downward. The laser beam can form a laser beam on the bottom of the pool in front of and on the side of the automatic pool cleaning device. Or, as Figure 1The first laser radar 20 shown can also be positioned at the front or side of the automatic pool cleaning device body 10. The first laser radar 20 can emit a laser beam tilted forward and downward, or tilted sideways and forward to emit a laser beam downward. The laser beam can also form a laser beam on the pool bottom in front of and to the sides of the automatic pool cleaning device. In this way, only one laser radar is required to obtain the pool contour in the areas in front of and to the sides of the automatic pool cleaning device, reducing the number of laser radars used and lowering the production cost of the automatic pool cleaning device.

[0048] It should be noted that the installation positions of the first laser radar 20 and the second laser radar 30 can be set according to the actual mobile cleaning requirements of the automatic pool cleaning device, or according to the experience of technical personnel in this field. As long as the technical principles in this application can be implemented, no specific limitations are made here.

[0049] Specifically, the control module can also generate a movement path for the automatic pool cleaning device along the pool wall based on the point cloud data of the side area scanned by the first laser radar 20 or the second laser radar 30. In this way, the automatic pool cleaning device can also obtain the contour information of the pool wall, allowing the automatic pool cleaning device to move along the pool wall, facilitating the automatic pool cleaning device to obtain more accurate pool boundary information and facilitate edge cleaning or edge mapping.

[0050] The present application provides an automatic pool cleaning method, which is performed based on the cleaning device of any of the aforementioned embodiments. The embodiments disclosed in the present application are described below with reference to the accompanying drawings. Figure 4 A flow chart of an automatic pool cleaning method 400 is shown. The cleaning method includes steps S401 to S403. Steps S401 to S403 are described below.

[0051] In step S401, the automatic pool cleaning device is controlled to move and clean the bottom of the pool.

[0052] For example, when the automatic pool cleaning device is moving to clean the bottom of the pool, it can include multiple cleaning paths, such as: random cleaning path, edge cleaning path, bow-shaped cleaning path, U-shaped cleaning path, "Y"-shaped cleaning path, "U"-shaped cleaning path, pool wall cleaning path, waterline cleaning path and water surface cleaning path.

[0053] It should be noted that the terms edge cleaning path, bow-shaped cleaning path, U-shaped cleaning path, "Y"-shaped cleaning path, "U"-shaped cleaning path or other paths do not necessarily require the automatic pool cleaning device to plan a movement trajectory in advance and store the information corresponding to the movement trajectory in the memory of the automatic pool cleaning device. The so-called path planning in this field usually means planning an established movement rule. The automatic pool cleaning device can use a path planning algorithm to obtain the movement path of the automatic pool cleaning device; the movement path of the automatic pool cleaning device can also be obtained by updating and iterating historical paths; the movement path of the automatic pool cleaning device can also be provided or set by the user; the movement path of the automatic pool cleaning device can also be pre-stored in the memory of the automatic pool cleaning device. The above description of the method of obtaining the movement path of the automatic pool cleaning device is only exemplary. Those skilled in the art can select the movement path of the automatic pool cleaning device according to actual conditions, as long as the technical principles of this application can be implemented.

[0054] In step S402, point cloud data of a first area in front of the automatic pool cleaning device is acquired by a first laser radar, and point cloud data of a second area in front of the automatic cleaning device is acquired by a second laser radar.

[0055] At least a portion of the second region is higher than the first region.

[0056] During the movement of the automatic pool cleaning device, the first laser radar and the second laser radar will intermittently or continuously send laser beams and receive reflected signals. The first laser radar and the second laser radar will respectively process the corresponding laser beams into point cloud data.

[0057] The point cloud data is a two-dimensional data set or a three-dimensional data set generated by scanning the first area and the second area in front of the automatic pool cleaning device through a laser radar, reflecting the terrain contours of the first area and the second area.

[0058] The terrain outline reflected in the point cloud data includes not only the contour information of the pool bottom and walls in the first and second areas, but also the contour information of obstacles within the first and second areas. For example, obstacles may include one or more of floor lamps, garbage, toys, drainage components, steps, railings, irregularly shaped pool bottoms (e.g., bowl-shaped bottoms, curved bottoms, cliff edges, etc.), and tables and chairs within the pool.

[0059] In step S403, a moving path of the automatic pool cleaning device is generated based on the point cloud data of the first area and / or the point cloud data of the second area.

[0060] The point cloud data of the first area and the point cloud data of the second area can respectively reflect the contour information of the first area and the second area. The movement path of the automatic pool cleaning device is generated by the contour information of the first area and / or the second area, so that the movement path of the automatic pool cleaning device can be adapted to the terrain contours of the first area and the second area to adapt to pools of different shapes and structures.

[0061] Exemplarily, the moving path of the automatic pool cleaning device includes one or more of turning, backing up, going around obstacles, overcoming obstacles and making a U-turn.

[0062] For example, when it is determined through the point cloud data of the first area and the point cloud data of the second area that the obstacle in front of the automatic pool cleaning device is a pool wall or a large obstacle that cannot be crossed, the automatic pool cleaning device can be controlled to execute a turning or U-turn path.

[0063] If the obstacle in front of the automatic pool cleaning device is determined to be a small obstacle (such as a ground lamp, garbage, etc.) based on the point cloud data of the first area and the point cloud data of the second area, the automatic pool cleaning device can be controlled to execute an obstacle circumvention path to pass over the obstacle. Controlling the automatic pool cleaning device to execute the obstacle circumvention path includes increasing the driving force of the driving component.

[0064] In step S403, a moving path of the automatic pool cleaning device is generated based on the point cloud data of the first area and / or the point cloud data of the second area, including: judging whether there is an obstacle in the first area based on the point cloud data of the first area, and judging whether there is an obstacle in the second area based on the point cloud data of the second area; if it is judged that there are obstacles in both the first area and the second area, and it is confirmed based on the point cloud data of the first area and the second area that a bowl-shaped pool bottom appears in front of the cleaning device, a moving path of turning and then going straight is generated to avoid the bowl-shaped pool bottom.

[0065] A bowl-shaped pool bottom typically exhibits a downwardly concave shape, similar to the bottom of a bowl-shaped container. For example, the bottom may be lower in the center and gradually rise toward the sides, forming an upward slope or upwardly curved surface. It should be noted that the above description of a bowl-shaped pool bottom is merely exemplary, and those skilled in the art may define the shape of the term "bowl-shaped pool bottom" based on the technical principles of this application.

[0066] If obstacles are determined to exist in both the first and second areas, the point cloud data from the first and second areas can be combined to determine whether the obstacle ahead is a bowl-shaped pool bottom. For example, because a bowl-shaped pool bottom is concave, if the distance between the obstacle in the first area and the automatic pool cleaning device is detected to first increase and then decrease, and the distance between the obstacle in the second area and the automatic pool cleaning device is also detected to first increase and then decrease, it indicates that a bowl-shaped pool bottom is present in front of the automatic pool cleaning device. Alternatively, if the distance between the obstacle in the first area and the automatic pool cleaning device increases at a rate greater than a first set rate, and the distance between the obstacle in the second area and the automatic pool cleaning device increases at a rate greater than a second set rate, it may also indicate that a bowl-shaped pool bottom is present in front of the automatic pool cleaning device.

[0067] It should be noted that the above-mentioned method of judging whether a bowl-shaped pool bottom appears in front of the automatic pool cleaning device is only exemplary. Those skilled in the art can adjust the method of judging the bowl-shaped pool bottom according to the laser radar, point cloud data, obstacle judgment principles and actual application scenarios described in this application. As long as the technical principles of this application can be implemented, no specific limitation is made here.

[0068] When the presence of a bowl-shaped pool bottom is confirmed, a path for turning and then going straight can be generated, so that the automatic pool cleaning device can execute the path for turning and then going straight to avoid the bowl-shaped pool bottom, reducing the occurrence of the automatic pool cleaning device getting stuck in the bowl-shaped pool bottom, thereby reducing stagnation and efficiency loss during the cleaning process.

[0069] The steering angle of the automatic pool cleaning device can be greater than or equal to 90 degrees. This prevents the automatic pool cleaning device from moving toward the bowl-shaped pool bottom, reduces the risk of the automatic pool cleaning device slipping and getting stuck in the bowl-shaped pool bottom when passing by it, and enables the automatic pool cleaning device to completely avoid the bowl-shaped pool bottom.

[0070] In step S403, the control module generates a moving path for the automatic pool cleaning device based on the point cloud data of the first area and / or the point cloud data of the second area, including: judging whether there is an obstacle in the first area based on the point cloud data of the first area, and judging whether there is an obstacle in the second area based on the point cloud data of the second area; if it is judged that there is no obstacle in the first area and there is an obstacle in the second area, confirming the type of obstacle blocking the forward movement of the cleaning device in front of the cleaning device based on the point cloud data of the second area, executing the generated obstacle-avoiding path and then moving along the historical moving direction.

[0071] The first laser radar scans the pool bottom, emitting a laser beam at a predetermined downward angle vertically. The second laser radar's scanning direction is vertical, emitting a laser beam in front of the automatic pool cleaning device. This laser beam forms a vertically extending laser line in the second area, with at least a portion of the second area higher than the first area. Therefore, if an obstacle is present in the second area but not in the first area, it indicates that a vertically extending obstacle is present in front of the automatic pool cleaning device.

[0072] At this point, the point cloud data from the second area is used to determine the type of obstacle (e.g., a railing, stone pillar, table leg, or chair leg) blocking the automated pool cleaning device's forward movement. The type of obstacle can be determined based on the point cloud data's outline of the obstacle or the distance between the obstacle and the automated pool cleaning device at different locations. If the point cloud data determines that the obstacle can be circumvented, the automated pool cleaning device is controlled to execute the circumvention path, following the historical movement direction, to continue cleaning.

[0073] Exemplarily, the control method further includes generating a movement path along the wall of the pool based on point cloud data of the side area scanned by the first lidar or the second lidar.

[0074] The first laser radar or the second laser radar can also scan the area located on the side of the cleaning device, that is, the contour information of the pool wall on the side of the automatic pool cleaning device can be obtained through the point cloud data of the first area or the point cloud data of the second area, and the distance between the automatic pool cleaning device and the pool wall can be calculated, so as to generate the movement path of the automatic pool cleaning device along the pool wall according to the distance between the automatic pool cleaning device and the pool wall, so that the distance between the automatic pool cleaning device and the pool wall is maintained within a predetermined range, thereby improving the edge cleaning efficiency of the automatic pool cleaning device or improving the edge mapping effect of the automatic pool cleaning device.

[0075] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0076] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0077] In the description of this specification, the reference terms "one embodiment," "some embodiments," "example," "specific example," or "some examples" mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials, or characteristics described may be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification, as well as features of different embodiments or examples, unless they are mutually inconsistent.

[0078] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0079] In this application, unless otherwise specified, directional words such as "up" and "down" are generally used with respect to the directions shown in the drawings, or with respect to the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "left" and "right" are generally used with respect to the left and right shown in the drawings; "inside" and "outside" refer to the inside and outside relative to the outline of each component itself, but the above directional words are not used to limit this application.

[0080] The above is merely an exemplary embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various modifications or substitutions within the technical scope described in this application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. An automatic pool cleaning device, comprising a first laser radar, a second laser radar, and a control module, wherein the control module is capable of controlling the automatic pool cleaning device to move and clean the bottom of a pool; in, The first laser radar is used to obtain point cloud data of a first area in front of the automatic pool cleaning device, and the second laser radar is used to obtain point cloud data of a second area in front of the automatic cleaning device, wherein at least a portion of the second area is higher than the first area; and The control module can generate a moving path of the automatic pool cleaning device based on the point cloud data of the first area and / or the point cloud data of the second area.

2. The cleaning device according to claim 1, wherein The moving path of the automatic pool cleaning device includes one or more of turning, retreating, detouring around obstacles, turning around and overcoming obstacles.

3. The cleaning device according to claim 1, wherein The control module generates a moving path of the automatic pool cleaning device based on the point cloud data of the first area and / or the point cloud data of the second area, including: The control module determines whether there is an obstacle in the first area based on the point cloud data of the first area, and determines whether there is an obstacle in the second area based on the point cloud data of the second area. If there are obstacles in both the first area and the second area, and it is confirmed based on the point cloud data of the first area and the second area that a bowl-shaped pool bottom appears in front of the cleaning device, a moving path of turning and then going straight is generated to avoid the bowl-shaped pool bottom.

4. The cleaning device according to claim 1, wherein The control module generates a moving path of the automatic pool cleaning device based on the point cloud data of the first area and / or the point cloud data of the second area, including: The control module determines whether there is an obstacle in the first area based on the point cloud data of the first area, and determines whether there is an obstacle in the second area based on the point cloud data of the second area. If there is no obstacle in the first area but there is an obstacle in the second area, the type of obstacle blocking the progress of the cleaning device is confirmed in front of the point cloud data of the second area, and a moving path is generated after executing the obstacle avoidance path and moving along the historical moving direction.

5. The cleaning device according to claim 1, wherein Both of the laser radars are single-line or multi-line laser radars. The cleaning device according to claim 1 , wherein: The first laser radar scans the pool bottom, and the scanning direction of the second laser radar is vertical.

7. The cleaning device according to any one of claims 1 to 6, wherein: The first laser radar or the second laser radar can also scan an area located to the side of the cleaning device.

8. The cleaning device according to claim 7, wherein: The control module can also generate a movement path along the pool wall based on the point cloud data of the side area scanned by the first lidar or the second lidar.

9. A method for automatically cleaning a pool, wherein: The automatic pool cleaning method is performed based on the cleaning device according to any one of claims 1 to 8.

10. A computer storage medium storing a computer program, wherein the computer program implements the method according to claim 9 when executed by a processor.

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